Moveit2 Tutorial 1
xhost +local:docker
docker run -it --net=host --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" -e LIBGL_ALWAYS_SOFTWARE=1 moveit/moveit2:main-jazzy-tutorial-source
ros2 launch moveit2_tutorials demo.launch.py
You will see the robot change to this:
Try to move the robotic arm with mouse cursor, and also try to rotate the circle rings.
Check the Show Robot Visual checkbox in the Planned Path tree menu
Check the Query Goal State checkbox in the Planning Request tree menu.
Go to "Joints" tab of MotionPlanning, then try to change the joint values.
You can visually introspect trajectories point by point in RViz.
Note: Once you placed your end-effector to a new goal, be sure to run Plan before running Play – otherwise you’ll see the waypoints for the previous goal if available.
If the “Use Cartesian Path” checkbox is activated, the robot will attempt to move the end effector linearly in cartesian space.
Clicking “Plan & Execute” or “Execute” after a successful plan will send the trajectory to the robot - in this tutorial, since you used kinova_demo.launch, the robot is only simulated.
Initially, the default velocity and acceleration are scaled to 10% (0.1) of the robot’s maximum. You can change these scaling factors in the Planning tab shown below, or change these default values in the moveit_config of your robot (in joint_limits.yaml).
Go to Tutorial 2